Opinion dynamics for decentralized collective decision-making in a swarm of robots Marco A. Montes de Oca IRIDIA-CoDE, Universit´ e Libre de Bruxelles, Brussels, Belgium April 10, 2010 Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Opinion dynamics Example: Religious conversion Branch of statistical physics that deals with the definition of opinion states of a population, and the mechanisms that trigger transitions between states. Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Our work: Goal Can opinion dynamics models be used to make a large population of (simple) robots choose the best of a number of competing alternatives? Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Our work: Opinion dynamics mechanism 1 Pick at random k groups of 3 individuals each 2 Each group selects the action according to a given decision rule 3 A selected action is adopted by all the individuals in a group 4 All groups perform the selected action 5 Once a group finishes, its members become available again to form another group Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Our work: Opinion dynamics mechanism 1 Pick at random k groups of 3 individuals each 2 Each group selects the action according to a given decision rule 3 A selected action is adopted by all the individuals in a group 4 All groups perform the selected action 5 Once a group finishes, its members become available again to form another group Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Our work: Opinion dynamics mechanism 1 Pick at random k groups of 3 individuals each 2 Each group selects the action according to a given decision rule 3 A selected action is adopted by all the individuals in a group 4 All groups perform the selected action 5 Once a group finishes, its members become available again to form another group Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Our work: Opinion dynamics mechanism 1 Pick at random k groups of 3 individuals each 2 Each group selects the action according to a given decision rule 3 A selected action is adopted by all the individuals in a group 4 All groups perform the selected action 5 Once a group finishes, its members become available again to form another group Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Our work: Opinion dynamics mechanism 1 Pick at random k groups of 3 individuals each 2 Each group selects the action according to a given decision rule 3 A selected action is adopted by all the individuals in a group 4 All groups perform the selected action 5 Once a group finishes, its members become available again to form another group Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Our work: Majority rule as local decision rule Majority rule Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Our work: Majority rule as local decision rule Majority rule Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Our work: Robots Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Our work: Example Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Results: Population adoption probability Majority rule (64 robots - 16 teams) Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Ongoing and future work Different decision rules Task completion time variance Dynamic environments Multiple choices Analytical study Group scalability Speeding up convergence Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
Thank you (More) Questions? Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a
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